Hardware¶

Components¶

(prices in USD and links as of spring 2016)

Part List¶
Name	Link	Distributor	Price	Notes
iRobot Create2	https://www.adafruit.com/products/2388	Adafruit	199.99
Mini-DIN Connector Cable for iRobot Create 2 - 7 Pins - 6 feet	https://www.adafruit.com/products/2438	Adafruit	6.95
4-channel I2C-safe Bi-directional Logic Level Converter - BSS138	https://www.adafruit.com/products/757	Adafruit	3.95
UBEC DC/DC Step-Down (Buck) Converter - 5V @ 3A output	https://www.adafruit.com/products/1385	Adafruit	9.95
Rugged Metal On/Off Switch with Green LED Ring - 16mm Green On/Off	https://www.adafruit.com/products/482	Adafruit	4.95
Silicone Cover Stranded-Core Wire - 25ft 26AWG - Red	https://www.adafruit.com/products/2513	Adafruit	4.95	For several Robots
Silicone Cover Stranded-Core Wire - 25ft 26AWG - Black	https://www.adafruit.com/products/2517	Adafruit	4.95	For several Robots
Premium Female/Female Jumper Wires - 40 x 6”	https://www.adafruit.com/products/266	Adafruit	3.95	For several Robots
Multi-Colored Heat Shrink Pack - 3/32” + 1/8” + 3/16” Diameters	https://www.adafruit.com/products/1649	Adafruit	4.95	For several Robots
Panel Mount USB Cable - A Male to A Female	https://www.adafruit.com/products/908	Adafruit	3.95
Odroid C1+	http://ameridroid.com/products/odroid-c1	AmeriDroid	38.95
WiFi Module 3	http://ameridroid.com/products/wifi-module-3	AmeriDroid	9.95
DC Plug and Cable Assembly 2.5mm L-Type	http://ameridroid.com/products/dc-plug-and-cable-assembly-2-5mm-l-type	AmeriDroid	1.95
Aluminum Standoff: 1/2” Length, 4-40 Thread, F-F (4-Pack)	https://www.pololu.com/product/2091	Pololu	1.39	For 2 robots each
Machine Screw: #4-40, 1/4” Length, Phillips (25-pack)	https://www.pololu.com/product/1960	Pololu	0.99	For up to 12 robots each
Machine Screw: #4-40, 5/16” Length, Phillips (25-pack)	https://www.pololu.com/product/1961	Pololu	0.99	For up to 12 robots each
JST RCY Connector Pack, Female	https://www.pololu.com/product/1934	Pololu	1.75	For up to 3 robots each
JST RCY Connector Pack, Male	https://www.pololu.com/product/1935	Pololu	1.75	For up to 3 robots each
Parallax Standard Servo	https://www.parallax.com/product/900-00005	Parallax	12.99	Optional
PING))) Ultrasonic Distance Sensor	https://www.parallax.com/product/28015	Parallax	29.99	Optional

Wiring¶

Software¶

Basic¶

Download http://odroid.in/ubuntu_16.04lts/ubuntu-16.04-mate-odroid-c1-20160727.img.xz

Extract:

unxz ubuntu-16.04-mate-odroid-c1-20160727.img.xz

Verify MD5:

md5sum ubuntu-16.04-mate-odroid-c1-20160727.img
f5dfee4a8ea919dd8afc4384431574e5  ubuntu-16.04-mate-odroid-c1-20160727.img

Copy to SD-Card:

sudo dd if=ubuntu-16.04-mate-odroid-c1-20160727.img of=</dev/path/of/card> bs=1M conv=fsync
sync

Network¶

Add /etc/wpa_supplicant/wpa_supplicant.conf with following content:

network={
  ssid="<SSID>"
  psk="<password>"
  id_str="wifi"
}

Update /etc/network/interfaces:

# interfaces(5) file used by ifup(8) and ifdown(8)
# Include files from /etc/network/interfaces.d:
source-directory /etc/network/interfaces.d

auto lo
iface lo inet loopback

auto wlan0
# allow-hotplug wlan0
iface wlan0 inet manual
wpa-roam /etc/wpa_supplicant/wpa_supplicant.conf
iface wifi inet dhcp
iface default inet dhcp

Disable persistent network (so that SD-card can be used with any WiFi dongle):
```
sudo ln -s /dev/null /etc/udev/rules.d/80-net-setup-link.rules
```

PWM¶

Update /etc/modules:

# /etc/modules: kernel modules to load at boot time.
#
# This file contains the names of kernel modules that should be loaded
# at boot time, one per line. Lines beginning with "#" are ignored.
# Parameters can be specified after the module name.

# ODROID HW PWM support (see http://odroid.com/dokuwiki/doku.php?id=en:c1_hardware_pwm)
pwm-meson
pwm-ctrl

GPIO Support¶

Add udev-rule: /etc/udev/rules.d/90-gpio.rules:

SUBSYSTEM=="gpio", KERNEL=="gpiochip*", ACTION=="add", PROGRAM="/bin/sh -c 'chown root:gpio /sys/class/gpio/export /sys/class/gpio/unexport ; chmod 222 /sys/class/gpio/export /sys/class/gpio/unexport'"
SUBSYSTEM=="gpio", KERNEL=="gpio*", ACTION=="add", PROGRAM="/bin/sh -c 'chown root:gpio /sys%p/active_low /sys%p/direction /sys%p/edge /sys%p/value ; chmod 660 /sys%p/active_low /sys%p/direction /sys%p/edge /sys%p/value'"

Create GPIO group:
```
sudo groupadd gpio
```
Add user to group:
```
sudo adduser odroid gpio
```
Reboot

Additional Software¶

Update the system:
```
sudo apt update
sudo apt upgrade
```

Install additional packages:

sudo apt install python3 python3-serial python3-scipy python3-numpy python3-matplotlib

Add User¶

Add user and assign groups:

sudo adduser csci445
sudo adduser csci445 gpio
sudo adduser csci445 dialout

Debugging¶

You can use the USB UART Kit for debugging, see http://odroid.com/dokuwiki/doku.php?id=en:usb_uart_kit for more details. This will allow you to gain access to a shell using UART.

On you host PC, add /etc/udev/rules.d/99-odroiduart.rules with the following content:
```
SUBSYSTEM=="usb", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE="0664", GROUP="plugdev"
```
Make sure that your user is member of the plugdev group.
To connect, use:
```
picocom --baud 115200 /dev/ttyUSB0
```
You can end the session by pressing Ctrl+A followed by Ctrl+X.